CN112140058B - Automatic fastener disassembling system and method based on machine vision - Google Patents
Automatic fastener disassembling system and method based on machine vision Download PDFInfo
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- CN112140058B CN112140058B CN202010977061.9A CN202010977061A CN112140058B CN 112140058 B CN112140058 B CN 112140058B CN 202010977061 A CN202010977061 A CN 202010977061A CN 112140058 B CN112140058 B CN 112140058B
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- assembly line
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- inner cylinder
- rotary disk
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B27/00—Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for
- B25B27/14—Hand tools, specially adapted for fitting together or separating parts or objects whether or not involving some deformation, not otherwise provided for for assembling objects other than by press fit or detaching same
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25B—TOOLS OR BENCH DEVICES NOT OTHERWISE PROVIDED FOR, FOR FASTENING, CONNECTING, DISENGAGING OR HOLDING
- B25B11/00—Work holders not covered by any preceding group in the subclass, e.g. magnetic work holders, vacuum work holders
- B25B11/02—Assembly jigs
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F21—LIGHTING
- F21V—FUNCTIONAL FEATURES OR DETAILS OF LIGHTING DEVICES OR SYSTEMS THEREOF; STRUCTURAL COMBINATIONS OF LIGHTING DEVICES WITH OTHER ARTICLES, NOT OTHERWISE PROVIDED FOR
- F21V33/00—Structural combinations of lighting devices with other articles, not otherwise provided for
Abstract
The invention discloses an automatic fastener dismounting system and method based on machine vision, relates to the technical field of fastener dismounting, and aims to solve the problems that an existing automatic fastener dismounting device based on machine vision is easily limited by a plurality of fasteners outside a material when the fasteners are dismounted, so that a sleeve and the fasteners are difficult to match, the normal use of the device is influenced, the precision of a distance sensor is reduced under the long-time use of the device, the sleeve is easily collided with the material, a mechanical arm is damaged due to vibration, and irreparable loss is caused. The automatic feeding device comprises a feeding assembly line, a mechanical movement control platform, fine control screw rods, a bearing, a slide block and a screw rod bearing, wherein the mechanical movement control platform is installed on one side of the feeding assembly line and is connected with the feeding assembly line through the connecting plate, the fine control screw rods are installed at the front end and the rear end of the upper end of the mechanical movement control platform, the fine control screw rods are connected with the mechanical movement control platform through the bearing, the slide block is installed outside the fine control screw rods, and the slide block is connected with the fine control screw rods through the screw rod bearing.
Description
Technical Field
The invention relates to the technical field of fastener dismounting, in particular to an automatic fastener dismounting system and method based on machine vision.
Background
The fastener is a mechanical part which is used for fastening connection and has extremely wide application. The fastener is widely used in industries including energy, electronics, electrical appliances, machinery, chemical engineering, metallurgy, dies, hydraulic pressure and the like, various fasteners can be seen on various machines, equipment, vehicles, ships, railways, bridges, buildings, structures, tools, instruments, chemical engineering, instruments, supplies and the like, the fastener is a mechanical basic part which is most widely applied, along with the rapid development of manufacturing industry, the updating and upgrading period of products is shorter and shorter, how to properly treat a huge number of waste workpieces is a problem which is urgently faced at present, and the detachment of the fasteners on the workpieces is a key problem in the process of detaching the waste workpieces.
However, the existing automatic fastener dismounting device based on machine vision is easily limited by a plurality of fasteners outside the material when the fasteners are dismounted, so that the sleeve and the fasteners are difficult to match, the normal use of the device is affected, the precision of the distance sensor is reduced under the long-time use of the device, the sleeve and the material are easily collided, the mechanical arm is damaged due to vibration, and irreparable loss is caused; thus, the present need is not met, and a system and method for automatic fastener removal based on machine vision is presented.
Disclosure of Invention
The invention aims to provide a system and a method for automatically disassembling fasteners based on machine vision, which aim to solve the problems that the device for automatically disassembling fasteners based on machine vision is easily limited by a plurality of fasteners outside materials when the fasteners are disassembled, so that a sleeve and the fasteners are difficult to match, the normal use of the device is influenced, the precision of a distance sensor is reduced under the long-time use of the device, the sleeve is easy to collide with the materials, the mechanical arm is damaged by vibration, and the irreparable loss is caused.
In order to achieve the purpose, the invention provides the following technical scheme: an automatic fastener disassembling system based on machine vision comprises a feeding assembly line, wherein a mechanical moving control console is installed on one side of the feeding assembly line and is connected with the feeding assembly line through a connecting plate, fine control screw rods are installed at the front end and the rear end of the upper end of the mechanical moving control console and are connected with the mechanical moving control console through bearings, sliders are installed on the outer portions of the fine control screw rods and are connected with the fine control screw rods through screw rod bearings, mechanical arms are installed at the upper ends of the sliders and are connected with the sliders through screws, a rotating disc is installed at the lower end, close to one side of the feeding assembly line, of each mechanical arm and is connected with the corresponding mechanical arm through bearings, outer cylinders are installed at the lower ends of the rotating discs and are connected with the rotating discs through bearings, inner cylinders are installed inside the outer cylinders, one end of the inner cylinder close to the rotating disc is provided with a strip-shaped clamping jaw which is fixedly connected with the inner cylinder, the strip-shaped clamping jaws are connected with the outer cylinder through clamping grooves, one ends of the strip-shaped clamping jaws close to the rotating disc are provided with return springs, the return spring is fixedly connected with the inner cylinder and the outer cylinder, the upper end of the other side of the feeding assembly line is provided with a visual detection bracket, the visual detection bracket is connected with the feeding assembly line through a screw, the upper end of the visual detection bracket is provided with an ash removal motor, the ash cleaning motor is connected with the visual detection bracket through a screw, the lower end of the visual detection bracket is provided with a rotating rod, the rotary rod is connected with the visual detection bracket through a bearing, the lower end of one side of the rotary rod is provided with an ash removal brush, the dust cleaning brush is fixedly connected with the rotating rod, and the rotating rod is connected with the dust cleaning motor through a coupling.
Preferably, the mounting panel is installed to one side of terminal surface under the visual detection support, mounting panel and visual detection support fixed connection, the industry camera is all installed to the both sides of mounting panel lower extreme, industry camera and mounting panel fixed connection, the light is installed to the lower extreme of mounting panel, light and mounting panel fixed connection.
Preferably, clamping cylinders are installed on two sides of the upper end face of the feeding production line and fixedly connected with the feeding production line, a clamping plate is installed at one end of each clamping cylinder, and the clamping plate is connected with the clamping cylinders through screws.
Preferably, an industrial control box is installed on one side, away from the feeding assembly line, of the mechanical movement control platform, and the industrial control box is connected with the mechanical movement control platform through screws.
Preferably, a light supplement lamp is installed on the lower end face of the rotating disc and connected with the rotating disc through a buckle.
Preferably, a distance sensor is installed on the lower end face of the rotating disc, the distance sensor is fixedly connected with the rotating disc, a limiting guide rail is installed at the upper end of the mechanical mobile control console, the limiting guide rail is connected with the mechanical mobile control console through a screw, and the limiting guide rail is connected with the sliding block through a clamping groove.
Preferably, the upper end of rotary disk is installed and is dismantled the motor, dismantle motor and rotary disk fixed connection, it passes through the coupling joint with the urceolus to dismantle the motor, the arm is close to the upper end of pay-off assembly line one side and installs the sleeve and changes the motor, the sleeve is changed the motor and is passed through the screw connection with the arm, the sleeve is changed the motor and is passed through the coupling joint with the rotary disk, the assembly line motor is installed to one side of pay-off assembly line, assembly line motor and pay-off assembly line fixed connection, mechanical mobile control platform keeps away from the upper end of pay-off assembly line one side and installs mechanical mobile motor, mechanical mobile motor passes through the screw connection with mechanical mobile control platform, mechanical mobile motor passes through the bearing with the essence accuse lead screw and is connected.
A machine vision-based fastener automatic disassembling method comprises the following steps:
the method comprises the following steps: the staff passes through the rubber tube with the outer air pump of die clamping cylinder and device and is connected, then places the material in pay-off assembly line upper end to start the assembly line motor and transport it, when the material removed the industry camera lower extreme, the assembly line motor stall.
Step two: and then the clamping cylinder extends to firmly clamp the material, then the industrial camera shoots the coordinate distribution and specification size of the fastener on the surface of the material and transmits the shot to the industrial control box, the shot is analyzed and processed by the industrial control box, then the industrial camera controls the fine control screw rod to rotate by controlling the mechanical movement motor so as to adjust the position of the mechanical arm, then the distance sensor detects the distance from the rotating disk to the fastener, and then the sleeve replacing motor is started so as to select a proper inner cylinder according to the specification of the fastener.
Step three: next, the mechanical arm controls the inner cylinder to contact with the fastener, the dismounting motor is started to drive the inner cylinder to rotate, the fastener is dismounted, when the rest of the inner cylinders at the lower end of the rotating disk contact with the rest of the fasteners at the upper end of the material, the return spring can be compressed to enable the inner cylinder to retract into the outer cylinder, the mechanical arm cannot be impacted, and the inner cylinder in use can be guaranteed to be smoothly matched with the fastener needing to be dismounted at present.
Compared with the prior art, the invention has the beneficial effects that:
1. the invention can drive the mechanical arm to move by installing the fine control screw rod to be matched with the mechanical moving motor, is beneficial to increasing the flexibility of the device and the practicability of the device, is convenient for the device to rapidly replace the inner cylinder by installing the rotary disk, is beneficial to improving the working efficiency and increasing the practicability of the device, the inner cylinder can be matched with the fastener by installing the inner cylinder, the fastener can be rapidly disassembled, the functional integrity of the device is ensured, the inner cylinder can be retracted into the outer cylinder by installing the return spring, the device is not limited by a plurality of fasteners outside the material when the fastener is disassembled, the inner cylinder is prevented from being difficultly matched with the fastener, the normal use of the device is prevented from being influenced, the inner cylinder is prevented from being easily impacted with the material and transmitted to the mechanical arm, the mechanical arm is damaged by vibration, the irrecoverable loss is caused, the ash removing brush can be arranged at the lower end of the industrial camera, and the high quality of pictures shot by the industrial camera is ensured, the practicability of the device is improved, the precision of the device is improved, and the using effect of the device is improved;
2. according to the invention, the distribution condition of the fasteners on the surface of the material can be shot by installing the industrial camera, the functional integrity of the device is ensured, the material can be clamped by installing the clamping cylinder through the clamping plate, the device is prevented from shaking when the fasteners are disassembled, the device can be stably and quickly disassembled, the distance between the rotating disk and the rotating disk can be detected by installing the distance sensor, the mechanical arm can be conveniently and accurately close to the material, and the functional integrity of the device is ensured.
Drawings
FIG. 1 is an overall front view of the present invention;
FIG. 2 is a diagram showing the connection relationship between the rotating disk and the outer cylinder, the inner cylinder, the fill-in light and the distance sensor;
FIG. 3 is a view showing the connection between the rotary plate and the detaching motor according to the present invention;
FIG. 4 is a view showing a connection relationship between the outer cylinder and the inner cylinder according to the present invention;
fig. 5 is an enlarged view of a portion a of fig. 1.
In the figure: 1. a feed line; 2. a visual inspection support; 3. mounting a plate; 4. an industrial camera; 5. an illuminating lamp; 6. a production line motor; 7. a mechanical movement console; 8. fine control screw rods; 9. a mechanical movement motor; 10. limiting a guide rail; 11. a slider; 12. a mechanical arm; 13. a sleeve replacement motor; 14. rotating the disc; 15. disassembling the motor; 16. an outer cylinder; 17. an inner barrel; 18. a light supplement lamp; 19. a distance sensor; 20. a return spring; 21. a strip-shaped jaw; 22. a clamping cylinder; 23. a clamping plate; 24. a dust removal motor; 25. rotating the rod; 26. a dust cleaning brush; 27. an industrial control box.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments.
Referring to fig. 1-5, an embodiment of the present invention is shown: an automatic fastener dismounting system based on machine vision comprises a feeding assembly line 1, a mechanical movement control console 7 is installed on one side of the feeding assembly line 1, the mechanical movement control console 7 is connected with the feeding assembly line 1 through a connecting plate, fine control screw rods 8 are installed at the front end and the rear end of the upper end of the mechanical movement control console 7, the fine control screw rods 8 are installed to be matched with a mechanical movement motor 9 to drive a mechanical arm 12 to move, flexibility of the device is increased, practicability of the device is improved, the fine control screw rods 8 are connected with the mechanical movement control console 7 through bearings, a slide block 11 is installed outside the fine control screw rods 8, the slide block 11 is connected with the fine control screw rods 8 through screw rod bearings, the mechanical arm 12 is installed at the upper end of the slide block 11, the mechanical arm 12 is in the prior art, too much description is not needed, the mechanical arm 12 is connected with the slide block 11 through screws, and a rotating disk 14 is installed at the lower end, close to one side of the feeding assembly line 1, of the mechanical arm 12, the installation rotary disk 14 is convenient for the quick replacement of the inner cylinder 17 by the device, the work efficiency is improved, the practicability of the device is improved, the rotary disk 14 is connected with the mechanical arm 12 through a bearing, the lower end of the rotary disk 14 is provided with the outer cylinder 16, the outer cylinder 16 is connected with the rotary disk 14 through a bearing, the inner cylinder 17 is arranged in the outer cylinder 16, the inner cylinder 17 can be matched with a fastener by installing the inner cylinder 17, the fastener can be quickly disassembled, the functional integrity of the device is ensured, one end of the inner cylinder 17, close to the rotary disk 14, is provided with the strip-shaped clamping jaws 21, the strip-shaped clamping jaws 21 are fixedly connected with the inner cylinder 17, the strip-shaped clamping jaws 21 are connected with the outer cylinder 16 through clamping grooves, one end of the strip-shaped clamping jaws 21, close to the rotary disk 14, is provided with the return spring 20, the inner cylinder 17 can retract into the outer cylinder 16 by installing the return spring 20, the device is not limited by a plurality of fasteners outside the material when the fastener is disassembled, and the inner cylinder 17 is prevented from being difficult to be matched with the fastener, the normal use of the device is influenced, the inner cylinder 17 is prevented from being easily impacted with materials and transmitted to the mechanical arm 12, the mechanical arm 12 is damaged due to vibration, irreparable loss is caused, and the return spring 20 is fixedly connected with the inner cylinder 17 and the outer cylinder 16.
Further, visual detection support 2 is installed to the upper end of 1 opposite side of pay-off assembly line, visual detection support 2 passes through the screw connection with pay-off assembly line 1, deashing motor 24 is installed to the upper end of visual detection support 2, deashing motor 24 passes through the screw connection with visual detection support 2, rotary rod 25 is installed to the lower extreme of visual detection support 2, rotary rod 25 passes through the bearing with visual detection support 2 and is connected, deashing brush 26 is installed to the lower extreme of rotary rod 25 one side, deashing brush 26 and rotary rod 25 fixed connection, rotary rod 25 passes through the coupling joint with deashing motor 24, installation deashing brush 26 can carry out the deashing to 4 lower extremes of industrial camera, guarantee the high quality of 4 pictures of shooting of industrial camera, increase device's practicality, be favorable to improving device's precision, increase device's result of use.
Further, mounting panel 3 is installed to one side of terminal surface under the visual detection support 2, mounting panel 3 and visual detection support 2 fixed connection, industry camera 4 is all installed to the both sides of mounting panel 3 lower extreme, industry camera 4 and mounting panel 3 fixed connection, light 5 is installed to the lower extreme of mounting panel 3, light 5 and mounting panel 3 fixed connection, installation industry camera 4 can be shot the distribution condition of material surface fastener, guarantees the functional complete of device.
Further, die clamping cylinder 22 is all installed to the both sides of pay-off assembly line 1 up end, die clamping cylinder 22 and pay-off assembly line 1 fixed connection, pinch-off plate 23 is installed to pinch-off cylinder 22's one end, pinch-off plate 23 passes through the screw connection with pinch-off cylinder 22, installation pinch-off cylinder 22 can press from both sides the material tight through pinch-off plate 23, prevent that the device material from taking place to rock when dismantling the fastener, guarantee that the device can stabilize demolish fast.
Further, an industrial control box 27 is installed on one side, away from the feeding assembly line 1, of the mechanical movement control platform 7, the industrial control box 27 is connected with the mechanical movement control platform 7 through screws, and the industrial control box 27 is installed to guarantee stable operation of the device and guarantee integrity of functionality of the device.
Further, light filling lamp 18 is installed to the lower terminal surface of rotary disk 14, and light filling lamp 18 passes through the buckle with rotary disk 14 to be connected, and installation light filling lamp 18 can supply light, guarantees distance sensor 19's accuracy.
Further, distance sensor 19 is installed to the lower terminal surface of rotary disk 14, distance sensor 19 and rotary disk 14 fixed connection, and limit guide 10 is installed to the upper end of mechanical mobile control platform 7, and limit guide 10 passes through the screw connection with mechanical mobile control platform 7, and limit guide 10 passes through the draw-in groove with slider 11 and is connected, and installation distance sensor 19 can detect rotary disk 14 and distance between them, and the arm 12 of being convenient for is accurate near the material, guarantees the functional complete of device.
Further, a disassembling motor 15 is installed at the upper end of the rotating disc 14, the disassembling motor 15 is fixedly connected with the rotating disc 14, the disassembling motor 15 is connected with the outer cylinder 16 through a coupler, a sleeve replacing motor 13 is installed at the upper end of one side, close to the feeding assembly line 1, of the mechanical arm 12, the sleeve replacing motor 13 is connected with the mechanical arm 12 through a screw, the sleeve replacing motor 13 is connected with the rotating disc 14 through a coupler, an assembly line motor 6 is installed at one side of the feeding assembly line 1, the assembly line motor 6 is fixedly connected with the feeding assembly line 1, a mechanical moving motor 9 is installed at the upper end, far away from the feeding assembly line 1, of the mechanical moving control console 7, the mechanical moving motor 9 is connected with the mechanical moving control console 7 through a screw, the mechanical moving motor 9 is connected with the fine control screw rod 8 through a bearing, the sleeve replacing motor 13 can quickly replace inner cylinders 17 with different specifications, and is convenient for quickly disassembling fasteners, the working efficiency of the device is increased.
A machine vision-based fastener automatic disassembling method comprises the following steps:
the method comprises the following steps: the staff passes through the rubber tube with die clamping cylinder 22 and the external air pump of device and is connected, then places the material in pay-off assembly line 1 upper end to start assembly line motor 6 and transport it, when the material removed the industrial camera 4 lower extreme, assembly line motor 6 stall.
Step two: then the clamping cylinder 22 extends to firmly clamp the material, then the industrial camera 4 shoots the coordinate distribution and specification size of the fastener on the surface of the material and transmits the shot to the industrial control box 27, the shot is analyzed and processed by the industrial control box 27, then the industrial control camera controls the fine control screw rod 8 to rotate by controlling the mechanical moving motor 9 so as to adjust the position of the mechanical arm 12, then the distance sensor 19 detects the distance from the rotating disk 14 to the fastener, and then the sleeve replacing motor 13 is started, so that the proper inner cylinder 17 is selected according to the specification of the fastener.
Step three: next, the mechanical arm 12 controls the inner cylinder 17 to contact with the fastener, and the dismounting motor 15 is started to drive the inner cylinder 17 to rotate, so as to dismount the fastener, when the rest of the inner cylinders 17 at the lower end of the rotating disk 14 contact with the rest of the fasteners at the upper end of the material, the return spring 20 is compressed, so that the inner cylinder 17 retracts into the outer cylinder 16, the mechanical arm 12 is not subjected to impact force, and the inner cylinder 17 in use can be ensured to be smoothly matched with the fasteners needing to be dismounted currently.
The working principle is as follows: when the device is used, a worker connects the clamping cylinder 22 with an external air pump through a rubber tube, then places a material on the upper end of the feeding assembly line 1, starts the assembly line motor 6 to transport the material, when the material moves to the lower end of the industrial camera 4, the assembly line motor 6 stops running, the clamping cylinder 22 extends to firmly clamp the material, then the industrial camera 4 shoots the coordinate distribution and specification size of the surface fastener of the material and transmits the shot coordinate distribution and specification size to the industrial control box 27, the shot coordinate distribution and specification size are analyzed and processed by the industrial control box 27, then the mechanical moving motor 9 is controlled to control the rotation of the fine control screw rod 8 so as to adjust the position of the mechanical arm 12, then the distance sensor 19 detects the distance from the rotating disk 14 to a firm fastener, then the sleeve replacing motor 13 is started, the inner cylinder 17 is selected according to the specification of the fastener, and then the mechanical arm 12 controls the inner cylinder 17 to contact with the fastener, and the dismounting motor 15 is started to drive the inner cylinder 17 to rotate, the fastener is dismounted, when the other inner cylinders 17 at the lower end of the rotating disk 14 are contacted with the other fasteners at the upper end of the material, the return spring 20 is compressed to enable the inner cylinder 17 to retract into the outer cylinder 16, the mechanical arm 12 is not subjected to impact force, the smooth matching of the used inner cylinder 17 and the currently-required dismounting fastener is ensured, the precision control screw rod 8 is arranged to enable the precision control screw rod to be matched with the mechanical moving motor 9 to drive the mechanical arm 12 to move, the flexibility of the device is increased, the practicability of the device is increased, the rotating disk 14 is arranged to facilitate the quick replacement of the inner cylinder 17, the working efficiency is improved, the practicability of the device is increased, the inner cylinder 17 can be matched with the fastener by arranging the inner cylinder 17, the fastener can be quickly dismounted, the functional integrity of the device is ensured, and the inner cylinder 17 can retract into the outer cylinder 16 by arranging the return spring 20, the device is not limited by a plurality of fasteners outside the material when the fasteners are disassembled, the inner barrel 17 is prevented from being difficultly matched with the fasteners to influence the normal use of the device, the inner barrel 17 is prevented from being easily impacted with the material and being transmitted to the mechanical arm 12, so that the mechanical arm 12 is damaged by vibration to cause irreparable loss, the lower end of the industrial camera 4 can be cleaned by installing the dust cleaning brush 26, the high quality of pictures shot by the industrial camera 4 is ensured, the practicability of the device is increased, the precision of the device is favorably improved, the using effect of the device is increased, the distribution condition of the fasteners on the surface of the material can be shot by installing the industrial camera 4, the functional integrity of the device is ensured, the material can be clamped by the clamping plate 23 by the installing clamping cylinder 22, the material is prevented from shaking when the device is disassembled from being disassembled, the device can be stably and quickly disassembled, the distance between the rotating disk 14 can be detected by the installing distance sensor 19, the mechanical arm 12 can be close to the material accurately, and the functional integrity of the device is ensured.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Claims (1)
1. A method for automatically disassembling a fastener based on machine vision is characterized in that: the method is realized by using an automatic fastener dismounting system, the automatic fastener dismounting system comprises a feeding assembly line (1), a mechanical movement control console (7) is installed on one side of the feeding assembly line (1), the mechanical movement control console (7) is connected with the feeding assembly line (1) through a connecting plate, fine control screws (8) are installed at the front end and the rear end of the upper end of the mechanical movement control console (7), the fine control screws (8) are connected with the mechanical movement control console (7) through bearings, a sliding block (11) is installed outside the fine control screws (8), the sliding block (11) is connected with the fine control screws (8) through screw bearings, a mechanical arm (12) is installed at the upper end of the sliding block (11), the mechanical arm (12) is connected with the sliding block (11) through screws, and a rotating disk (14) is installed at the lower end of the mechanical arm (12) close to one side of the feeding assembly line (1), the rotary disk (14) is connected with the mechanical arm (12) through a bearing, an outer cylinder (16) is installed at the lower end of the rotary disk (14), the outer cylinder (16) is connected with the rotary disk (14) through a bearing, an inner cylinder (17) is installed inside the outer cylinder (16), a bar-shaped clamping jaw (21) is installed at one end, close to the rotary disk (14), of the inner cylinder (17), the bar-shaped clamping jaw (21) is fixedly connected with the inner cylinder (17), the bar-shaped clamping jaw (21) is connected with the outer cylinder (16) through a clamping groove, a return spring (20) is installed at one end, close to the rotary disk (14), of the bar-shaped clamping jaw (21), the return spring (20) is fixedly connected with the inner cylinder (17) and the outer cylinder (16), a visual detection support (2) is installed at the upper end of the other side of the feeding assembly line (1), and the visual detection support (2) is connected with the feeding assembly line (1) through a screw, deashing motor (24) is installed to the upper end of visual detection support (2), deashing motor (24) passes through the screw connection with visual detection support (2), rotary rod (25) are installed to the lower extreme of visual detection support (2), rotary rod (25) pass through the bearing with visual detection support (2) and are connected, deashing brush (26) is installed to the lower extreme of rotary rod (25) one side, deashing brush (26) and rotary rod (25) fixed connection, rotary rod (25) pass through the coupling joint with deashing motor (24), mounting panel (3) are installed to one side of terminal surface under visual detection support (2), mounting panel (3) and visual detection support (2) fixed connection, industry camera (4) are all installed to the both sides of mounting panel (3) lower extreme, industry camera (4) and mounting panel (3) fixed connection, light (5) are installed to the lower extreme of mounting panel (3), light (5) and mounting panel (3) fixed connection, die clamping cylinder (22) are all installed to the both sides of pay-off assembly line (1) up end, die clamping cylinder (22) and pay-off assembly line (1) fixed connection, pinch-off plate (23) are installed to the one end of die clamping cylinder (22), pinch-off plate (23) pass through screwed connection with die clamping cylinder (22), industrial control case (27) are installed to one side that pay-off assembly line (1) was kept away from in mechanical mobile control platform (7), industrial control case (27) pass through screwed connection with mechanical mobile control platform (7), light filling lamp (18) are installed to the lower terminal surface of rotary disk (14), light filling lamp (18) pass through the buckle with rotary disk (14) and are connected, distance sensor (19) are installed to the lower terminal surface of rotary disk (14), distance sensor (19) and rotary disk (14) fixed connection, limit guide (10) are installed to the upper end of machinery mobile control platform (7), limit guide (10) and machinery mobile control platform (7) pass through the screw connection, limit guide (10) and slider (11) pass through the draw-in groove and are connected, the upper end of rotary disk (14) is installed and is dismantled motor (15), dismantle motor (15) and rotary disk (14) fixed connection, it passes through the coupling joint with urceolus (16) to dismantle motor (15), arm (12) are close to the upper end of pay-off assembly line (1) one side and are installed the sleeve and change motor (13), sleeve is changed motor (13) and arm (12) and pass through the screw connection, sleeve is changed motor (13) and rotary disk (14) and pass through the coupling joint, assembly line motor (6) are installed to one side of pay-off assembly line (1), the assembly line motor (6) is fixedly connected with the feeding assembly line (1), the upper end of one side, away from the feeding assembly line (1), of the mechanical movement control platform (7) is provided with a mechanical movement motor (9), the mechanical movement motor (9) is connected with the mechanical movement control platform (7) through a screw, and the mechanical movement motor (9) is connected with the fine control screw rod (8) through a bearing;
the automatic fastener dismounting system method comprises the following steps:
the method comprises the following steps: a worker connects the clamping cylinder (22) with an external air pump of the device through a rubber tube, then places the material on the upper end of the feeding assembly line (1), starts the assembly line motor (6) to transport the material, and stops the assembly line motor (6) when the material moves to the lower end of the industrial camera (4);
step two: then the clamping cylinder (22) extends to firmly clamp the material, then the industrial camera (4) shoots the coordinate distribution and specification size of the fastener on the surface of the material and transmits the shot to the industrial control box (27), the shot is analyzed and processed by the industrial control box (27), then the industrial control box controls the fine control screw rod (8) to rotate by controlling the mechanical moving motor (9) so as to adjust the position of the mechanical arm (12), then the distance sensor (19) detects the distance from the rotating disk (14) to the firm part, and then the sleeve replacing motor (13) is started to select a proper inner cylinder (17) according to the specification of the fastener;
step three: next, the mechanical arm (12) controls the inner cylinder (17) to be in contact with the fastening piece, the dismounting motor (15) is started to drive the inner cylinder (17) to rotate, the fastening piece is dismounted, when the rest of the inner cylinders (17) at the lower end of the rotating disk (14) are in contact with the rest of the fastening pieces at the upper end of the material, the return spring (20) can be compressed to enable the inner cylinder (17) to retract into the outer cylinder (16), the mechanical arm (12) cannot be impacted, and the fact that the used inner cylinder (17) can be smoothly matched with the fastening piece needing to be dismounted currently is guaranteed.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010977061.9A CN112140058B (en) | 2020-09-17 | 2020-09-17 | Automatic fastener disassembling system and method based on machine vision |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010977061.9A CN112140058B (en) | 2020-09-17 | 2020-09-17 | Automatic fastener disassembling system and method based on machine vision |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN112140058A CN112140058A (en) | 2020-12-29 |
| CN112140058B true CN112140058B (en) | 2022-04-01 |
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| CN202010977061.9A Active CN112140058B (en) | 2020-09-17 | 2020-09-17 | Automatic fastener disassembling system and method based on machine vision |
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| CN113857836A (en) * | 2021-10-29 | 2021-12-31 | 国能朔黄铁路发展有限责任公司 | Equipment dismounting device |
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